Adaptive control of a class of first order nonlinear systems without a priori information on the plant parameters

An adaptive control for a class of first-order nonlinear systems is presented. The control scheme is free from singularities (i.e. division by zero). This has been achieved by appropriately modifying the plant parameter estimates before using them in the control input generation. The proposed control algorithm achieves global asymptotic model tracking and the control law´s denominator is uniformly bounded away from zero without assuming any prior knowledge of the plant parameters